# Test MC\_02 - Full Autonomous

## Create and upload mission

❏ Mission Criteria

    ❏ Auto take-off

    ❏ Changes in Altitude throughout the mission

    ❏ First waypoint set to Takeoff

    ❏ Enable Mission End RTL

    ❏ Duration of 5 to 6 minutes

❏ Upload mission to vehicle using *QGroundControl*

## Arm and Take-off

❏ Arm in any manual mode

❏ Engage Auto to trigger take-off

❏ Observe tracking, cornering and proper RTL performance

❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: [COM\_DISARM\_LAND](/px4-user-guide/advanced_config/parameter_reference.md#COM_DISARM_LAND))

## Expected Results

* Take-off should be smooth as throttle is raised
* Mission should upload on first attempt
* Vehicle should automatically take-off upon engaging Auto
* Upon landing, copter should not bounce on the ground


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